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Refactored OdometryBOW class to handle binary descriptors too (removed OdometryBin).

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Odometry: added "local map history" option to increase precision
Added new Nearest neighbor options (LSH, brute Force, GPU brute Force)
Added FREAK/ORB features
Increased version to 0.6.5

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1431 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-22 03:33:56 +00:00
parent bff3acf273
commit 65b79cd7a2
30 changed files with 2812 additions and 3045 deletions
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34
guilib/src/MainWindow.cpp
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@@ -1963,22 +1963,7 @@ void MainWindow::startDetection()
UERROR("OdomThread must be already deleted here?!");
delete _odomThread;
}
Odometry * odom;
if(_preferencesDialog->getOdometryType() == PreferencesDialog::kOdomBIN)
{
UINFO("Using odometry FAST/BRIEF");
odom = new OdometryBinary(parameters);
}
else if(_preferencesDialog->getOdometryType() == PreferencesDialog::kOdomBOW)
{
UINFO("Using odometry SIFT/SURF");
odom = new OdometryBOW(parameters);
}
else
{
UINFO("Using odometry ICP");
odom = new OdometryICP(parameters);
}
Odometry * odom = new OdometryBOW(parameters);
_odomThread = new OdometryThread(odom);
UEventsManager::addHandler(_odomThread);
@@ -2057,22 +2042,7 @@ void MainWindow::startDetection()
UERROR("OdomThread must be already deleted here?!");
delete _odomThread;
}
Odometry * odom;
if(_preferencesDialog->getOdometryType() == PreferencesDialog::kOdomBIN)
{
UINFO("Using odometry FAST/BRIEF");
odom = new OdometryBinary(parameters);
}
else if(_preferencesDialog->getOdometryType() == PreferencesDialog::kOdomBOW)
{
UINFO("Using odometry SIFT/SURF");
odom = new OdometryBOW(parameters);
}
else
{
UINFO("Using odometry ICP");
odom = new OdometryICP(parameters);
}
Odometry * odom = new OdometryBOW(parameters);
_odomThread = new OdometryThread(odom);
UEventsManager::addHandler(_odomThread);